Research also shows that AVs by their nature are highly prone to cyber attacks as compared to assisted- or driver-piloted vehicles [1]}, [2]}, [3]}. With the increased reliance on the sensing subsystem, AVs are susceptible to numerous cyber attacks. Due to the safety-critical nature of AVs, any ToF data error or misinterpretation can lead to fatal consequences [4]}, [5]}. There are numerous attack surfaces for AV perception, an attacker can alter the collected ToF sensor data to either introduce a fake object or hide the actual object, either of which can lead to catastrophic consequences.
